Control Architectures

• Top down

  • Decompose tasks into subtasks
  • Higher layers work at longer cycle times
  • Sense-Perceive-Think-Act cycle

• Bottom up

  • Competence at low levels
  • Short pathways from sensors to actuators

• Hybrid (3 layer architectures)

  • Some competence at low levels
  • Planner at higher level
  • A “glue” layer to mediate between them

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